
/**
  ******************************************************************************
  * Copyright 2021 The Microbee Authors. All Rights Reserved.
  * 
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  * 
  * http://www.apache.org/licenses/LICENSE-2.0
  * 
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  * 
  * @file       xrce_dds_header.h
  * @author     baiyang
  * @date       2022-4-8
  ******************************************************************************
  */

#pragma once

#ifdef __cplusplus
extern "C"{
#endif

/*----------------------------------include-----------------------------------*/
#include <stdbool.h>
#include <stdint.h>

#include <uxr/client/client.h>
#include <ucdr/microcdr.h>

#include <dds_msg/XrceDDSHeader.h>
/*-----------------------------------macro------------------------------------*/
#define XRCE_DDS_HEADER_OBJECT_ID header_object_id

/*----------------------------------typedef-----------------------------------*/

/*----------------------------------variable----------------------------------*/
extern uint16_t header_object_id;
/*-------------------------------------os-------------------------------------*/

/*----------------------------------function----------------------------------*/
void xrce_dds_header_on_topic(uxrObjectId object_id, struct ucdrBuffer* ub);

void xrce_dds_header_init();
bool xrce_dds_header_run(uint32_t time_now_ms);
/*------------------------------------test------------------------------------*/

#ifdef __cplusplus
}
#endif



